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Landing update for better baro landing

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This commit is contained in:
Jason Short 2012-01-28 22:35:57 -08:00
parent 9dd1730cce
commit 2a8044c666
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/commands_logic.pde
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@ -366,7 +366,7 @@ static bool verify_land_sonar()
} }
if(current_loc.alt < 200 ){ if(current_loc.alt < 200 ){
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
} }
if(current_loc.alt < 150 ){ if(current_loc.alt < 150 ){
@ -401,15 +401,15 @@ static bool verify_land_baro()
landing_boost++; landing_boost++;
landing_boost = min(landing_boost, 40); landing_boost = min(landing_boost, 40);
} }
if(current_loc.alt < 200 ){ if(current_loc.alt < 200 ){
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
} }
if(current_loc.alt < 150 ){ if(current_loc.alt < 150 ){
if(abs(climb_rate) < 20) { if(abs(climb_rate) < 20) {
landing_boost++;
if(ground_detector++ > 30) { if(ground_detector++ > 30) {
//landing_boost = 100;
//Serial.print("land_complete\n");
land_complete = true; land_complete = true;
ground_detector = 0; ground_detector = 0;
// init disarm motors // init disarm motors